Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot
This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, to deal with flexibility in joints, and t...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2014/241548 |
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| author | Jean Bosco Mbede Joseph Jean-Baptiste Mvogo Ahanda |
| author_facet | Jean Bosco Mbede Joseph Jean-Baptiste Mvogo Ahanda |
| author_sort | Jean Bosco Mbede |
| collection | DOAJ |
| description | This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, to deal with flexibility in joints, and to ensure fast tracking performance. Backstepping approach is used to ensure global asymptotic stability and its common algorithm is modified such that the link position and velocity errors converge to zero exponentially fast. In contrast with the other backstepping controller for electrically driven flexible joint robot manipulators control problem, the proposed controller is robust with respect to stiffness uncertainty and allows tracking fast motions. Simulation results are presented for both single link flexible joint electrically driven manipulator and 2-DOF flexible joint electrically driven robot manipulator. These simulations show very satisfactory tracking performances and the superiority of the proposed controller to those performed in the literature using simple backstepping methodology. |
| format | Article |
| id | doaj-art-55cdcbaca555475dae4ea52451c27c52 |
| institution | OA Journals |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-55cdcbaca555475dae4ea52451c27c522025-08-20T02:04:55ZengWileyJournal of Robotics1687-96001687-96192014-01-01201410.1155/2014/241548241548Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven RobotJean Bosco Mbede0Joseph Jean-Baptiste Mvogo Ahanda1Department of Electrical Engineering and Telecommunications, National Advanced School Polytechnics of the University of Yaoundé I, Yaoundé, CameroonDepartment of Physics, Faculty of Science of the University of Yaoundé I, Yaoundé, CameroonThis paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, to deal with flexibility in joints, and to ensure fast tracking performance. Backstepping approach is used to ensure global asymptotic stability and its common algorithm is modified such that the link position and velocity errors converge to zero exponentially fast. In contrast with the other backstepping controller for electrically driven flexible joint robot manipulators control problem, the proposed controller is robust with respect to stiffness uncertainty and allows tracking fast motions. Simulation results are presented for both single link flexible joint electrically driven manipulator and 2-DOF flexible joint electrically driven robot manipulator. These simulations show very satisfactory tracking performances and the superiority of the proposed controller to those performed in the literature using simple backstepping methodology.http://dx.doi.org/10.1155/2014/241548 |
| spellingShingle | Jean Bosco Mbede Joseph Jean-Baptiste Mvogo Ahanda Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot Journal of Robotics |
| title | Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot |
| title_full | Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot |
| title_fullStr | Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot |
| title_full_unstemmed | Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot |
| title_short | Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot |
| title_sort | exponential tracking control using backstepping approach for voltage based control of a flexible joint electrically driven robot |
| url | http://dx.doi.org/10.1155/2014/241548 |
| work_keys_str_mv | AT jeanboscombede exponentialtrackingcontrolusingbacksteppingapproachforvoltagebasedcontrolofaflexiblejointelectricallydrivenrobot AT josephjeanbaptistemvogoahanda exponentialtrackingcontrolusingbacksteppingapproachforvoltagebasedcontrolofaflexiblejointelectricallydrivenrobot |